弹簧在下肢外骨骼重心调整中的应用

Research on the Application of Spring in CG Adjustment of Lower Limb Exoskeleton

通过对外骨骼在一个步态周期中重心变化的分析，提出髋关节使用螺旋弹簧结构设计来调整重心高度的方法，使负荷重心在行走过程中维持一个水平高度，减少额外的能量消耗。通过外骨骼的受力分析和等升角圆锥螺旋弹簧疏圈理论，提出一种弹簧选取的设计计算方法，计算的结果说明设计的可行性和方法的正确性。

By analyzing the centre of gravity movement of the exoskeleton during a gait, the method of centre of gravity adjustment using spire spring at hip joint was put forward, which was in order to keep the load centre of gravity in a level during walking and to reduce the excess energy expending. By the force analyzing of the exoskeleton and the theory of a conical helical spring with an equal helix angle, a design method of spring choosing was put forward. Computational results show that the design feasible and the method correct.